Multiplayer Obstacle Avoidance Pursuit-Evasion Games With Adaptive Parameter Estimation

This article investigates a class of multiplayer obstacle avoidance pursuit-evasion games with intracoalition cooperation and intercoalition confrontation. In order to obtain distributed control strategy, a communication topology graph is utilized to quantify the interactions of the players. The solutions of the Hamilton-Jacobi-Isaacs equations of the pursuit-evasion games are employed to calculate Nash equilibrium of the players. An adaptive method is utilized to obtain the opponent's control parameters for updating multiple distributed control strategies. Moreover, the sufficient condition is provided to guarantee stability of multiplayer pursuit-evasion (MPPE) game system with adaptive estimation. Finally, an MPPE game experiment with two evaders and two pursuers is carried out to demonstrate the effectiveness of the proposed methodology.